Safe expeditious whole-body control of mobile manipulators for collision avoidance
September 2026
Whole-body reactive obstacle avoidance for mobile manipulators (MM) remains an open research problem. Control Barrier Functions (CBF), combined with Quadratic Programming (QP), have become a popular...
LiteHand: A lightweight autoregressive Transformer for real-time robotic handwriting via human demonstration
Available online 25 September 2026
Recent learning-based robot policies, including multimodal foundation models, have demonstrated remarkable progress in robotic manipulation and instruction-following by leveraging large-scale demonstration...
Bioinspired morphing wing concepts for aerial vehicle design
Available online 25 September 2026
Bioinspired morphing technologies are redefining aerospace structures by integrating natural adaptability with advanced materials and actuation systems. This review synthesizes current knowledge on...
HiBerNAC: Hierarchical brain-inspired robotic neural agent collective for disentangling complex manipulation
Available online 23 September 2026
Recent advances in multimodal vision language action (VLA) models have revolutionized traditional robot learning, enabling systems to interpret vision, language, and action in unified frameworks for...
LDS-Net: A DINOv2–SAM2 framework with LoRA adaptation for surgical instrument segmentation
Available online 18 September 2026
Surgical instrument segmentation is a critical perception task in robotic-assisted minimally invasive surgery. However, endoscopic surgical scenes often exhibit complex appearance variations and thin...
Advancements in reinforcement learning for robotic control: A comprehensive review
Available online 17 September 2026
Reinforcement Learning (RL) has emerged as a transformative paradigm for training autonomous agents to achieve effective control through trial-and-error interactions. In robotics, RL has enabled the...
Vision-based terrain-aware quadruped locomotion via dual monocular depth fusion and information-decoupled adaptation
Available online 12 September 2026
Reinforcement learning-based quadruped locomotion control typically relies on ground-truth terrain heightmaps that are readily available in simulation but inaccessible during real-world deployment....
Ψ-Map: Panoptic surface integrated mapping enables Real2Sim transfer
Available online 7 September 2026
Open-vocabulary panoptic reconstruction is essential for advanced robotics perception and simulation. However, existing methods based on 3D Gaussian Splatting (3DGS) often struggle to simultaneously...
Lightweight unsupervised image enhancement based on bilateral grid
Available online 31 August 2026
Visual perception serves as the primary sensory modality for autonomous robots navigating and interacting with complex environments. However, robotic vision systems frequently encounter challenging...
LARR: A Leg-Arm Reuse Robot for cost-effective mobility and manipulation
Available online 27 August 2026
Humanoid robots advance embodied intelligence but require over 20 degrees of freedom (DoFs), leading to high complexity and cost. This paper presents the Leg-Arm Reuse Robot (LARR), which adopts a novel...
CG-MARL: Human-in-the-loop cognition-guided credit assignment for distributed multi-agent reinforcement learning
Available online 18 August 2026
Credit assignment remains a key challenge in cooperative multi-agent reinforcement learning (MARL), as existing methods infer agent contributions indirectly from global rewards through restrictive structural...
A gear-linkage quaternion joint based cable-driven serpentine manipulator: Structural design, kinematics, and motion planning
Available online 17 August 2026
Cable-driven serpentine manipulators exhibit significant potential for confined-space operations owing to their slender structure and dexterous motion capability. However, their practical application...
Human-in-the-Loop Reinforcement Learning for a Low-Cost Soft Myoelectric Prosthetic Hand
Available online 10 August 2026
Approximately 65 million people live with some form of amputation, of which 38.7% involve the upper limb, with higher incidence in developing countries. This situation highlights the need for affordable...
Development of a piezoelectric ultrasonic actuating tripod robot inspired by swinging movement of jellyfish
Available online 7 August 2026
Miniature piezoelectric robots exhibit the characteristics of high displacement resolution, flexible structure, and absence of electromagnetic interference. They have been applied in various fields...
From geometry to intention: A survey of Head Pose Estimation for HCI and HRI systems
Available online 5 August 2026
Head Pose Estimation (HPE) has evolved from model-based geometric fitting toward robust deep learning approaches capable of real-time inference in unconstrained environments. However, improvements in...
A quasi-passive lockable shoulder exoskeleton with load adaptability for assisting both static and dynamic tasks
Available online 16 July 2026
Passive shoulder exoskeletons are widely adopted to mitigate musculoskeletal injuries. However, conventional passive shoulder exoskeletons suffer from limited spring stiffness and insufficient assistive...
Learning what you hold: A personalized object registration and recognition framework via handheld interaction
Available online 4 July 2026
Personalized object recognition is a critical capability for home service robots to understand and execute user-specific requests within idiosyncratic domestic environments. However, existing approaches...
Validation of a thoraco-abdominal motion phantom for robotic surgery’s respiration tracking study
June 2026
Respiratory motion, as a dominant biological factor, imposes two primary challenges in radiotherapy: firstly, ensuring accurate spatial targeting of the tumor volume, and secondly, constraining radiation...
A multi-task framework based on SDA–LSTM fusion network for gait phase recognition and gait cycle percentage progression prediction by IMU for forward walking
June 2026
Accurate recognition of gait phases and reliable prediction of gait cycles are critical for adaptive exoskeleton control. Although these two tasks are inherently coupled in both temporal and spatial...
Towards Industry 5.0: Emerging trends in dual-arm human–robot collaboration
June 2026
As industry transitions from the Industry 4.0 paradigm to the human-centered vision of Industry 5.0, robots are evolving from mere automation tools into intelligent partners capable of close collaboration...
Deep reinforcement learning-based dynamic path planning of flexible needle in robotic puncturing
June 2026
Flexible needle puncture path planning in surgical robots faces significant challenges, such as limited adaptability to multi-objective environments and poor real-time performance. These issues affect...
Multimodal wearable sensors-driven KsFormer model for continuous multi-step ahead prediction of lower limb joint moments and ground reaction forces
June 2026
Accurate real-time prediction of lower limb biomechanics is critical for enhancing assistive robotic control systems. While machine learning approaches have emerged as computationally efficient alternatives...
Inverse kinematics and redundancy resolution in manipulators: Methods, optimization objectives, and future trends
June 2026
Redundant manipulators possess additional degrees of freedom that enable superior dexterity, adaptability, and fault tolerance in complex environments. However, this redundancy also introduces challenges...
MCVP: Multi-channel viewpoint planner for efficient exploration and mapping of complex 3D environments
June 2026
Autonomous exploration in complex 3D environments is a key issue in robotics, where current approaches often demonstrate limited efficiency and excessive path backtracking. To mitigate backtracking...
Humanoid robot running through random stepping stones and jumping over obstacles: Step adaptation using spring-mass trajectories
June 2026
This study proposes a step adaptation framework for running through spring-mass trajectories and deadbeat control gain libraries. It includes four main parts: (1) Automatic spring-mass trajectory library...
